Fractional Order Controller Design for Ball and Beam System

Fractional order controllers which has mostly used recently have investigated in this paper. It is benefit from ball & beam system to show effects of controllers. Fractional order controller and its integer form are compared with simulation results for the mentioned system. Parameters of controllers have obtained by using evolutionary algorithms techniques which are particle swarm optimization (PSO) and genetic algorithms (GAs). According to results, it is confirmed the advantage of fractional controllers. Beside, PSO has a little bit superiority over GAs technique for determining optimum values of controller parameters.